System and Method Providing Improved Head Motion Estimations for Animation

ABSTRACT

The computer-readable media provides improved procedures to estimate head motion between two images of a face. Locations of a number of distinct facial features are determined in two images. The locations are converted into as a set of physical face parameters based on the symmetry of the identified distinct facial features. An estimation objective function is determined by: (a) estimating each of the set of physical parameters, (b) estimating a first head pose transform corresponding to the first image, and (c) estimating a second head pose transform corresponding to the second image. The motion is estimated between the two images based on the set of physical face parameters by multiplying each term of the estimation objective function by a weighted contribution factor based on the confidence of data corresponding to the estimation objective function.

RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.10/912,279, filed on Aug. 4, 2004, titled “System and Method ProvidingImproved Head Motion Estimations for Animation,” which is a continuationof U.S. patent application Ser. No. 09/731,481, filed on Dec. 6, 2000,now U.S. Pat. No. 7,020,305, titled “System and Method ProvidingImproved Head Motion Estimations for Animation,” all of which are herebyincorporated by reference.

TECHNICAL FIELD

The disclosure below relates to the recovery of face shape from imagesand the facial animation. More particularly, the following descriptionrelates to determining the head motion between two images based onsymmetrical features in the two images.

BACKGROUND

One interesting and difficult problem in computer graphics is theeffortless generation of realistic looking, animated human face models.Animated face models are essential to computer games, film making,online chat, virtual presence, video conferencing, etc. So far, the mostpopular commercially available tools have utilized laser scanners. Notonly are these scanners expensive, the data are usually quite noisy,requiring hand touchup and manual registration prior to animating themodel. Because inexpensive computers and cameras are widely available,there is a great interest in producing face models directly from images.In spite of progress toward this goal, the available techniques areeither manually intensive or computationally expensive.

Facial modeling and animation has been a computer graphics researchtopic for over 25 years [6, 16, 17, 18, 19, 20, 21, 22, 23, 27, 30, 31,33]. The reader is referred to Parke and Waters' book [23] for acomplete overview.

Lee et al. [17, 18] developed techniques to clean up and register datagenerated from laser scanners. The obtained model is then animated usinga physically based approach.

DeCarlo et al. [5] proposed a method to generate face models based onface measurements randomly generated according to anthropometricstatistics. They showed that they were able to generate a variety offace geometries using these face measurements as constraints.

A number of researchers have proposed to create face models from twoviews [1, 13, 4]. They all require two cameras which must be carefullyset up so that their directions are orthogonal. Zheng [37] developed asystem to construct geometrical object models from image contours, butit requires a turn-table setup.

Pighin et al. [26] developed a system to allow a user to manuallyspecify correspondences across multiple images, and use visiontechniques to computer 3D reconstructions. A 3D mesh model is then fitto the reconstructed 3D points. They were able to generate highlyrealistic face models, but with a manually intensive procedure.

Blanz and Vetter [3] demonstrated that linear classes of face geometriesand images are very powerful in generating convincing 3D human facemodels from images. Blanz and Vetter used a large image database tocover every skin type.

Kang et al. [14] also use linear spaces of geometrical models toconstruct 3D face models from multiple images. But their approachrequires manually aligning the generic mesh to one of the images, whichis in general a tedious task for an average user.

Fua et al. [8] deform a generic face model to fit dense stereo data, buttheir face model contains a lot more parameters to estimate becausebasically all of the vertexes are independent parameters, plus reliabledense stereo data are in general difficult to obtain with a singlecamera. Their method usually takes 30 minutes to an hour, while ourstakes 2-3 minutes.

Guenter et al. [9] developed a facial animation capturing system tocapture both the 3D geometry and texture image of each frame andreproduce high quality facial animations. The problem they solved isdifferent from what is addressed here in that they assumed the person's3D model was available and the goal was to track the subsequent facialdeformations.

SUMMARY

The system described below provides improved procedures to estimate headmotion between two images of a face. A procedure is described thatfirst, identifies locations of a number of distinct facial features intwo images. The procedure of estimating head motion with respect tothese locations corresponds to the determination of a number of unknownquantities. For example, these identified locations can correspond tothe eye corners, mouth corners and nose tip.

Next, the locations are converted into as a set of physical faceparameters based on the symmetry of the identified distinct facialfeatures. The set of physical parameters reduces the number of unknownsas compared to the number of equations used to determine the unknowns.This reduction in unknowns and relative increase in the number ofequations used to determine the unknowns increases the redundancy andthus, the robustness of the head motion estimation.

Finally, the points corresponding to the identified points between thetwo images are used to solve the head motion. The head motion estimationoperation includes: (a) estimating each of the set of physicalparameters, (b) estimating a first head pose transform corresponding tothe first image, and (c) estimating a second head pose transformcorresponding to the second image. One of the physical parameters is setto a constant due to the fact that a scale cannot be determined from thetwo images.

Optionally, an inequality constraint can be placed on a particularphysical parameter, such that the parameter is constrained within apredetermined minimum and maximum value. For example, one descriptionprovides that the parameter corresponds to a nose tip. The predeterminedminimum value is zero (0) and the predetermined maximum value is areasonable value based on absolute values of other locations—recall thateach location identifies a facial feature. The inequality constraint isconverted to an equality constraint by using a penalty function. Then,the inequality constraint is used during the head motion estimation toadd additional robustness to the motion estimation.

In yet another description, a procedure is provided to use the headmotion estimation described above as an initial estimation incombination with a feature matching algorithm. To accomplish this, theprocedure first involves identifying locations of a plurality ofdistinct facial features in the two images, the locations correspondingto a number of unknowns determined upon estimation of head motion. Forexample, these identified locations can correspond to the eye corners,mouth corners and nose tip.

Next, the identified locations are converted into a set of physical faceparameters based on the symmetry of the identified distinct facialfeatures, the set of physical parameters reducing the number ofunknowns. Next, a first set of matched points (corresponding topreviously identified distinct facial features) is used to determine thehead motion and the physical facial parameters. Finally, a second set ofmatched points from a feature matching algorithm is incorporated,together with the first set of matched points, to refine the estimationof the head motion and the physical facial parameters. These novelprocedures provide additional robustness to systems that estimate headmotion during animation modeling.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of a computer system capable of performing theoperations described below.

FIG. 2 illustrates how to mark facial features on an image.

FIGS. 3, 5, 6 are flow charts showing sequences of actions for creatinga 3D face model.

FIG. 4 shows the selection of different head regions as described below.

FIG. 7 illustrates a coordinate system that is based on symmetry betweenselected feature points on an image.

DETAILED DESCRIPTION

The following description sets forth a specific embodiment of a 3Dmodeling system that incorporates elements recited in the appendedclaims. The embodiment is described with specificity in order to meetstatutory requirements. However, the description itself is not intendedto limit the scope of this patent. Rather, the claimed invention mighteventually be embodied in other ways, to include different elements orcombinations of elements similar to the ones described in this document,in conjunction with other present or future technologies.

System Overview

FIG. 1 shows components of our system. The equipment includes a computer10 and a video camera 12. The computer is a typical desktop, laptop, orsimilar computer having various typical components such as akeyboard/mouse, display, processor, peripherals, and computer-readablemedia on which an operating system and application programs are storedand from which the operating system and application programs areexecuted. Such computer-readable media might include removable storagemedia, such as floppy disks, CDROMs, tape storage media, etc. Theapplication programs in this example include a graphics program designedto perform the various techniques and actions described below.

The video camera is an inexpensive model such as many that are widelyavailable for Internet videoconferencing. We assume the intrinsic cameraparameters have been calibrated, a reasonable assumption given thesimplicity of calibration procedures [36].

Data Capture

The first stage is data capture. The user takes two images with a smallrelative head motion, and two video sequences: one with the head turningto each side. Alternatively, the user can simply turn his/her head fromleft all the way to the right, or vice versa. In that case, the userneeds to select one approximately frontal view while the systemautomatically selects the second image and divides the video into twosequences. In the segue, we call the two images the base images.

The user then locates five markers in each of the two base images. Asshown in FIG. 2, the five markers correspond to the two inner eyecorners 20, nose tip 21, and two mouth corners 22.

The next processing stage computes the face mesh geometry and the headpose with respect to the camera frame using the two base images andmarkers as input.

The final stage determines the head motions in the video sequences, andblends the images to generate a facial texture map.

Notation

We denote the homogeneous coordinates of a vector x by {tilde over (x)},i.e., the homogeneous coordinates of an image point m=(u,v)^(T) are{tilde over (m)}=(u, v, 1)^(T), and those of a 3D point p=(x, y, z)^(T)are {tilde over (p)}=(x, y, z, 1)^(T). A camera is described by apinhole model, and a 3D point p and its image point m are related by

λ{tilde over (m)}=APΩ{tilde over (p)}

where λ is a scale, and A, P, and Q are given by

$A = \begin{pmatrix}\alpha & \lambda & u_{0} \\0 & \beta & v_{0} \\0 & 0 & 1\end{pmatrix}$ $P = \begin{pmatrix}1 & 0 & 0 & 0 \\0 & 1 & 0 & 0 \\0 & 0 & 1 & 0\end{pmatrix}$ $\Omega = \begin{pmatrix}R & t \\0^{T} & 1\end{pmatrix}$

The elements of matrix A are the intrinsic parameters of the camera andmatrix A maps the normalized image coordinates to the pixel imagecoordinates (see e.g. [7]). Matrix P is the perspective projectionmatrix. Matrix Ω is the 3D rigid transformation (rotation R andtranslation t) from the object/world coordinate system to the cameracoordinate system. When two images are concerned, a prime ′ is added todenote the quantities related to the second image.

The fundamental geometric constraint between two images is known as theepipolar constraint [7, 35]. It states that in order for a point m inone image and a point m′ in the other image to be the projections of asingle physical point in space, or in other words, in order for them tobe matched, they must satisfy

{tilde over (m)}′^(T) A′ ^(−T)EA⁻{tilde over (m)}=0

where E=[t_(r)]_(x)R_(r) is known as the essential matrix, (R_(r)t_(r))is the relative motion between the two images, and [t_(r)]_(x) is a skewsymmetric matrix such that t_(r)×v=[t_(r)]_(x)v for any 3D vector v.

Linear Class of Face Geometries

Instead of representing a face as a linear combination of real faces orface models, we represent it as a linear combination of a neutral facemodel and some number of face metrics, where a metric is a deformationvector that linearly deforms a face in a certain way, such as to makethe head wider, make the nose bigger, etc. Each deformation vectorspecifies a plurality of displacements corresponding respectively to theplurality of 3D points of the neutral face model.

To be more precise, let's denote the face geometry by a vector S=(v₁^(T), . . . v_(n) ^(T))^(T), where v_(i)=(X_(i), Y_(i), Z_(i))^(T),(i=1, . . . , n) are the vertices, and a metric by a vector M=(δv₁, . .. , δv_(n))^(T), where δv_(i)=(δX_(i), δY_(i), δZ_(i))^(T). Given aneutral face S⁰=(v₁ ^(0T), . . . v_(n) ^(0T))^(T), and a set of mmetrics M^(j)=(δv₁ ^(jT), . . . δv_(n) ^(jT))^(T), the linear space offace geometries spanned by these metrics is

$S = {{S^{0} + {\sum\limits_{j = 1}^{m}{c_{j}M^{j}\mspace{14mu} {subject}\mspace{14mu} {to}\mspace{14mu} c_{j}}}} \in \left\lbrack {l_{j},u_{j}} \right\rbrack}$

where c_(j)'s are the metric coefficients and l_(j) and u_(j) are thevalid range of c_(j). In our implementation, the neutral face and allthe metrics are designed by an artist, and it is done only once. Theneutral face contains 194 vertices and 360 triangles. There are 65metrics.

Image Matching and 3D Reconstruction

We now describe our techniques to determine the face geometry from justtwo views. The two base images are taken in a normal room by a staticcamera while the head is moving in front. There is no control on thehead motion, and the motion is unknown. We have to determine first themotion of the head and match some pixels across the two views before wecan fit an animated face model to the images. However, somepreprocessing of the images is necessary.

Determining Facial Portions of the Images

FIG. 3 shows actions performed to distinguish a face in the two selectedimages from other portions of the images.

There are at least three major groups of objects undergoing differentmotions between the two views: background, head, and other parts of thebody such as the shoulder. If we do not separate them, there is no wayto determine a meaningful head motion, since the camera is static, wecan expect to remove the background by subtracting one image from theother. However, as the face color changes smoothly, a portion of theface may be marked as background. Another problem with the imagesubtraction technique is that the moving body and the head cannot bedistinguished.

An initial step 100 comprises using image subtraction to create thefirst mask image in which pixels having different colors in the two baseimages are marked.

A step 101 comprises identifying locations of a plurality of distinctfacial features in the base images. In this example, the user does thismanually, by marking the eyes, nose, and mouth, as described above andshown in FIG. 2. Automated techniques could also be used to identifythese points.

A step 102 comprises calculating a range of skin colors by sampling thebase images at the predicted portions, or at locations that arespecified relative to the user-indicated locations of the facialfeatures. This allows us to build a color model of the face skin. Weselect pixels below the eyes and above the mouth, and computer aGaussian distribution of their colors in the RGB space. If the color ofa pixel matches this face skin color model, the pixel is marked as apart of the face.

A step 103 comprises creating a second mask image that marks any imagepixels having colors corresponding to the calculated one or more skincolors.

Either union or intersection of the two mask images is not enough tolocate the face because it will include either too many (e.g., includingundesired moving body) or too few (e.g., missing desired eyes and mouth)pixels. Since we already have information about the position of eyecorners and mouth corners, we initially predict the approximateboundaries of the facial portion of each image, based on the locationsidentified by the user. More specifically, step 104 comprises predictingan inner area and an outer area of the image. The outer area correspondsroughly to the position of the subject's head in the image, while theinner area corresponds roughly to the facial portion of the head.

FIG. 4 shows these areas, which are defined as ellipses. The innerellipse 23 covers most of the face, while the outer ellipse 24 isusually large enough to enclose the whole head. Let d_(e) be the imagedistance between the two inner eye corners, and d_(em), the verticaldistance between the eyes and the mouth. The width and height of theinner ellipse are set to 5d_(e) and 3d_(em). The outer ellipse is 25%larger than the inner one.

In addition, step 104 includes predicting or defining a lower area ofthe image that corresponds to a chin portion of the head. The lower areaaims at removing the moving body, and is defined to be 0.6d_(em) belowthe mouth.

Within the inner ellipse, a “union” or “joining” operation 105 is used:we note all marked pixels in the first mask image and also any unmarkedpixels of the first mask image that correspond in location to markedpixels in the second mask image. Between the inner and outer ellipses(except for the lower region), an image subtraction operation 106 isused: we note which pixels (marked or unmarked) of the image havedifferent colors relative to correspondingly located pixels in the otherimage. In the lower part, we use an “intersection” operation 107: wenote any marked pixels in the first mask image that correspond inlocation to marked pixels in the second mask image.

A step 108 comprises forming a final mask image that marks the notedpixels as being part of the head. This involves joining the mask imageto the mask image of the other image. More specifically, thecorresponding noted pixels of each base image are logically OR's tocreate the final maskimage.

Corner Matching and Motion Determination

One popular technique of image registration is optical flow [12, 2],which is based on the assumption that the intensity/color is conserved.This is not the case in our situation: the color of the same physicalpoint appears to be different in images because the illumination changeswhen the head is moving. We therefore resort to a feature-based approachthat is more robust to intensity/color variations. It consists of thefollowing steps: (i) detecting corners in each image; (ii) matchingcorners between the two images; (iii) detecting false matches based on arobust estimation technique; (iv) determining the head motion; (v)reconstructing matched points in 3D space.

FIG. 5 shows the sequence of operations.

Corner Detection. In a step 110, we use the Plessey corner detector, awell-known technique in computer vision [10]. It locates cornerscorresponding to high curvature points in the intensity surface if weview an image as a 3D surface with the third dimension being theintensity. Only corners whose pixels are white in the mask image areconsidered.

Corner Matching. In a step 111, for each corner in the first image wechoose an 11×11 window centered on it, and compare the window withwindows of the same size, centered on the corners in the second image. Azero-mean normalized cross correlation between two windows is computed[7]. If we rearrange the pixels in each window as a vector, thecorrelation score is equivalent to the cosine angle between twointensity vectors. It ranges from −1, for two windows which are notsimilar at all, to 1, for two windows which are identical. If thelargest correlation score exceeds a prefixed threshold (0.866 in ourcase), then that corner in the second image is considered to be thematch candidate of the corner in the first image. The match candidate isretained as a match if and only if its match candidate in the firstimage happens to be the corner being considered. This symmetric testreduces many potential matching errors.

False Match Detection. Operation 112 comprises detecting and discardingfalse matches. The set of matches established so far usually containsfalse matches because correlation is only a heuristic. The onlygeometric constraint between two images is the epipolar constraint{tilde over (m)}′^(T) A′^(−T)EA⁻{tilde over (m)}=0. If two points arecorrectly matched, they must satisfy this constraint, which is unknownin our case. Inaccurate location of corners because of intensityvariation of lack of string texture features is another source of error.In a step 109, we use the technique described in [35] to detect bothfalse matches and poorly located corners and simultaneously estimate theepipolar geometry (in terms of the essential matrix E). That techniqueis based on a robust estimation technique known as the least mediansquares [28], which searches in the parameter space to find theparameters yielding the smallest value for the median of squaredresiduals computer for the entire data set. Consequently, it is able todetect false matches in as many as 49.9% of the whole set of matches.

Motion Estimation

In a step 113, we compute an initial estimate of the relative headmotion between two images, denoted by rotation R_(r) and translationt_(r). If the image locations of the identified feature points areprecise, one could use a five-point algorithm to compute camera motionfrom Matrix E [7, 34]. Motion (R_(r), t_(r)) is then re-estimated with anonlinear least-squares technique using all remaining matches afterhaving discarded the false matches [34].

However, the image locations of the feature point are not usuallyprecise. A human typically cannot mark the feature points with highprecision. An automatic facial feature detection algorithm may notproduce perfect results. When there are errors, a five-point algorithmis not robust even when refined with a well-known bundle adjustmenttechnique.

For each of the five feature points, its 3D coordinates (x, y, z)coordinates need to be determined—fifteen (15) unknowns. Then, motionvector (R_(r), t_(r)) needs to be determined—adding six (6) moreunknowns. One unknown quantity is the magnitude, or global scale, whichwill never be determined from images alone. Thus, the number of unknownquantities that needs to be determined is twenty (i.e., 15+6−1=20). Thecalculation of so many unknowns further reduces the robustness of thefive point-tracking algorithm.

To substantially increase the robustness of the five point algorithm, anew set of parameters is created. These parameters take intoconsideration physical properties of the feature points. The property ofsymmetry is used to reduce the number of unknowns. Additionally,reasonable lower and upper bounds are placed on nose height and arerepresented as inequality constraints. As a result, the algorithmbecomes more robust. Using these techniques, the number of unknowns issignificantly reduced below 20.

Even though the following algorithm is described with respect to fivefeature points, it is straightforward to extend the idea to any numberof feature points less than or greater than five feature points forimproved robustness. Additionally, the algorithm can be applied to otherobjects besides a face as long as the other objects represent some levelof symmetry. Head motion estimation is first described with respect tofive feature points. Next, the algorithm is extended to incorporateother image point matches obtained from image registration methods.

Head Motion Estimation from Five Feature Points. FIG. 7 illustrates thenew coordinate system used to represent feature points. E₁ 202, E₂ 204,M₁ 206, M₂ 208, and N 210 denote the left eye corner, right eye corner,left mouth corner, right mouth corner, and nose top, respectively. A newpoint E 212 denotes the midpoint between eye corners E₁, E₂ and a newpoint M 214 identifies the midpoint between mouth corners M₁, M₂. Noticethat human faces exhibit some strong structural properties. For example,the left and right sides of a human face are very close to beingsymmetrical about the nose. Eye corners and mouth corners are almostcoplanar. Based on these symmetrical characteristics, the followingreasonable assumptions are made:

-   -   (1) A line E₁E₂ connecting the eye corners E₁ and E₂ is parallel        to a line M₁M₂ connecting the mouth corners.    -   (2) A line centered on the nose (e.g., line EOM when viewed        straight on or lines NM or NE when viewed from an angle as        shown) is perpendicular to mouth line M₁M₂ and to eye line E₁E₂.

Let π be the plane defined by E₁, E₂, M₁ and M₂. Let O 216 denote theprojection of point N on plane π. Let Ω₀ denote the coordinate system,which is originated at O with ON as the z-axis, OE as the y-axis; thex-axis is defined according to the right-hand system. In this coordinatesystem, based on the assumptions mentioned earlier, we can define thecoordinates of E₁, E₂, M₁, M₂, N as (−a, b, 0)^(T), (a, b, 0)^(T), (−d,−c, 0)^(T), (d, −c, 0)^(T), (0, 0, e)^(T), respectively.

By redefining the coordinate system, the number of parameters used todefine five feature points is reduced from nine (9) parameters forgeneric five points to five (5) parameters for five feature points inthis local coordinate system.

Let t denote the coordinates of O under the camera coordinate system,and R the rotation matrix whose three columns are vectors of the threecoordinate axis of Ω₀. For each point pε {E₁, E₂, M₁, M₂, N}, itscoordinate under the camera coordinate system is Rp+t. We call (R, t)the head pose transform. Given two images of the head under twodifferent poses (assume the camera is static), let (R, t) and (R′, t′)be their head pose transforms. For each point p_(i)ε {E₁, E₂, M₁, M₂,N}, if we denote its image point in the first view by m_(i) and that inthe second view by m′_(i), we have the following equations:

proj(Rp _(i) +t)=m _(i)  (1)

and

proj(R′p _(i) +t′)=m′ _(i)  (2)

where proj is the perspective projection. Notice that we can fix one ofthe coordinates a, b, c, d, since the scale of the head size cannot bedetermined from the images. As is well known, each pose has six (6)degrees of freedom. Therefore, the total number of unknowns is sixteen(16), and the total number of equations is 20. If we instead use their3D coordinates as unknowns as in any typical bundle adjustmentalgorithms, we would end up with 20 unknowns and have the same number ofequations. By using the generic properties of the face structure, thesystem becomes over-constrained, making the pose determination morerobust.

To make the system even more robust, we add an inequality constraint one. The idea is to force e to be positive and not too large compared toa, b, c, d. In the context of the face, the nose is always out of planeπ. In particular, we use the following inequality:

0≦e≦3a  (3)

Three (3) is selected as the upper bound of e/a simply because it seemsreasonable and it works well. The inequality constraint is finallyconverted to equality constraint by using a penalty function.

$\begin{matrix}{P_{nose} = \left\{ \begin{matrix}{e*e} & {{{if}\mspace{14mu} e} < 0} \\0 & {{{if}\mspace{14mu} 0} \leq e \leq {3a}} \\{\left( {e - {3a}} \right)*\left( {e - {3a}} \right)} & {{{if}\mspace{14mu} e} > {3a}}\end{matrix} \right.} & (4)\end{matrix}$

In summary, based on equations (1), (2) and (4), we estimate a, b, c, d,e, (R, t) and (R′, t′) by minimizing

$\begin{matrix}{F_{5\; {pts}} = {{\sum\limits_{i = 1}^{5}{w_{i}\left( {{{m_{i} - {{proj}\left( {{Rp}_{i} + t} \right)}}}^{2} + {{m_{i}^{\prime} - {{proj}\left( {{R^{\prime}p_{i}} + t^{\prime}} \right)}}}^{2}} \right)}} + {w_{n}P_{nose}}}} & (5)\end{matrix}$

where w_(i)'s and w_(n) are the weighting factors, reflecting thecontribution of each term. In our case, w_(i)=1 except for the nose termwhich has a weight of 0.5 because it is usually more difficult to locatethe nose top than other feature points. The weight for penalty w_(n) isset to 10. The objective function (5) is minimized using aLevenberg-Marquardt method [40]. More precisely, as mentioned earlier,we set a to a constant during minimization since the global head sizecannot be determined from images.

Incorporating Image Point Matches. If we estimate camera motion usingonly the five user marked points, the result is sometimes not veryaccurate because the markers contain human errors. In this section, wedescribe how to incorporate the image point matches (obtained by anyfeature matching algorithm) to improve precision.

Let (m_(j), m′_(j)) (j=1 . . . K) be the K point matches, eachcorresponding to the projections of a 3D point p_(j) according to theperspective projection (1) and (2). 3D points p_(j)'s are unknown, sothey are estimated. Assuming that each image point is extracted with thesame accuracy, we can estimate a, b, c, d, e, (R, t), (R′, t′), and{p_(j)} (j=1 . . . K) by minimizing

$\begin{matrix}{F = {F_{5\; {pts}} + {w_{p}{\sum\limits_{j = 1}^{K}\left( {{{m_{j} - {{proj}\left( {{Rp}_{j} + t} \right)}}}^{2} + {{m_{j}^{\prime} - {{proj}\left( {{R^{\prime}p_{j}} + t^{\prime}} \right)}}}^{2}} \right)}}}} & (6)\end{matrix}$

where F_(5pts) is given by (5), and w_(p) is the weighting factor. Weset w_(p)=1 by assuming that the extracted points have the same accuracyas those of eye corners and mouth corners. The minimization can again beperformed using a Levenberg-Marquardt method. This is a quite largeminimization problem since we need to estimate 16 +3 K unknowns, andtherefore it is computationally quite expensive especially for large K.Fortunately, as shown in [37], we can eliminate the 3D points using afirst order approximation. The following term

∥m _(j)−proj(Rp _(j) +t)∥² +∥m′ _(j)−proj(R′p _(j) +t′)∥²

can be shown to be equal, under the first order approximation, to

$\frac{\left( {{\overset{\sim}{m}}_{j}^{\prime \; T}E{\overset{\sim}{m}}_{j}} \right)^{2}}{{{\overset{\sim}{m}}_{j}^{\prime \; T}E^{T}{ZZ}^{T}E{\overset{\sim}{m}}_{j}} + {{\overset{\sim}{m}}_{j}^{\prime \; T}E^{T}{ZZ}^{T}E\; {\overset{\sim}{m}}_{j}^{\prime}}}$

where

${{\overset{\sim}{m}}_{j} = \left\lbrack {m_{j}^{T},1} \right\rbrack^{T}},{{\overset{\sim}{m}}_{j}^{\prime} = \left\lbrack {{\overset{\sim}{m}}_{j}^{\prime \; T},1} \right\rbrack^{T}},{Z = \begin{bmatrix}1 & 0 \\0 & 1 \\0 & 0\end{bmatrix}},$

and E is the essential matrix to be defined below.

Let (R_(r), t_(r)) be the relative motion between two views. It is easyto see that

R _(r) =R′R ^(T), and

t _(r) =t′−R′R ^(T) t.

Furthermore, let's define a 3×3 antisymmetric matrix [t_(r)]_(x) suchthat [t_(r)]_(x)x=t_(r)×x for any 3D vector x. The essential matrix isthen given by

E=[t _(r)]_(x)R_(r)  (7)

which describes the epipolar geometry between two views [7].

In summary, the objective function (6) becomes

$\begin{matrix}{F = {F_{5\; {pts}} + {w_{p}{\sum\limits_{j = 1}^{K}\frac{\left( {{\overset{\sim}{m}}_{j}^{\prime \; T}E{\overset{\sim}{m}}_{j}} \right)^{2}}{{{\overset{\sim}{m}}_{j}^{\prime \; T}E^{T}{ZZ}^{T}E{\overset{\sim}{m}}_{j}} + {{\overset{\sim}{m}}_{j}^{\prime \; T}E^{T}{ZZ}^{T}E{\overset{\sim}{m}}_{j}^{\prime}}}}}}} & (8)\end{matrix}$

Notice that this is a much smaller minimization problem. We only need toestimate 16 parameters as in the five-point problem (5), instead of 16+3 K unknowns.

To obtain a good initial estimate, we first use only the five featurepoints to estimate the head motion by using the algorithm described inSection 2. Thus we have the following two step algorithm:

Step 1. Set w_(p)=0. Solve minimization problem 8.

Step 2. Set w_(p)=1. Use the results of step 1 as the initial estimates.Solve minimization problem (8).

Notice that we can apply this idea to the more general cases where thenumber of feature points is not five. For example, if there are only twoeye corners and mouth corners, we'll end up with 14 unknowns and 16 +3 Kequations. Other symmetric feature points (such as the outside eyecorners, nostrils, and the like) can be added into equation 8 in asimilar way by using the local coordinate system Ω₀.

Head Motion Estimation Results

In this section, we show some test results to compare the new algorithmwith the traditional algorithms. Since there are multiple traditionalalgorithms, we chose to implement the algorithm as described in [34]. Itworks by first computing an initial estimate of the head motion from theessential matrix [7], and then re-estimate the motion with a nonlinearleast-squares technique.

We have run both the traditional algorithm and the new algorithm on manyreal examples. We found many cases where the traditional algorithm failswhile the new algorithm successfully results in reasonable cameramotions. When the traditional algorithm fails, the computed motion iscompletely bogus, and the 3D reconstructions give meaningless results.But the new algorithm gives a reasonable result. We generate 3Dreconstructions based on the estimated motion, and perform Delauneytriangulation.

We have also performed experiments on artificially generated data. Wearbitrarily select 80 vertices from a 3D face model and project itsvertices on two views (the head motion is eight degrees apart). Theimage size is 640 by 480 pixels. We also project the five 3D featurepoints (eye corners, nose top, and mouth corners) to generate the imagecoordinates of the markers. We then add random noises to the coordinates(u, v) of both the image points and the markers. The noises aregenerated by a pseudo-random generator subject to Gausian distributionwith zero mean and variance ranging from 0.4 to 1.2. We add noise to themarker's co-ordinates as well. The results are plotted in FIG. 3. Theblue curve shows the results of the traditional algorithm and the redcurve shows the results of our new algorithm. The horizontal axis is thevariance of the noise distribution. The vertical axis is the differencebetween the estimated motion and the actual motion. The translationvector of the estimated motion is scaled so that its magnitude is thesame as the actual motion. The difference between two rotations ismeasured as the Euclidean distance between the two rotational matrices.

We can see that as the noise increases, the error of the traditionalalgorithm has a sudden jump at certain point. But, the errors of our newalgorithm grow much more slowly.

3D Reconstruction.

FIG. 6 illustrates a step 114, where matched points are reconstructed in3D space with respect to the camera frame at the time when the firstbase image was taken. Let (m, m′) be a couple of matched points, and pbe their corresponding point in space. 3D point p is estimated such that∥m−{circumflex over (m)}∥²+∥m′−{circumflex over (m)}′∥² is minimized,where {circumflex over (m)} and {circumflex over (m)}′ are projectionsof p in both images according to the equation λ{circumflex over(m)}=APΩ{tilde over (p)}.

3D positions of the markers are determined in the same way.

Fitting a Face Model

This stage of processing creates a 3D model of the face. The face modelfitting process consists of two steps: fitting to 3D reconstructedpoints and fine adjustment using image information.

3D Fitting

A step 120 comprises constructing a realistic 3D face model from thereconstructed 3D image calculated in step 111. Given a set ofreconstructed 3D points from matched corners and markers, the fittingprocess applies a combination of deformation vectors to a pre-specified,neutral face model, to deform the neutral face model approximately tothe reconstructed face model. The technique searches for both the poseof the face and the metric coefficients to minimize the distances fromthe reconstructed 3D points to the neutral face mesh. The pose of theface is the transformation

$T = \begin{pmatrix}{sR} & t \\0^{T} & 1\end{pmatrix}$

from the coordinate frame of the neutral face mesh to the camera frame,where R is a 3×3 rotation matrix, t is a translation, and s is a globalscale. For any 3D vector p, we use notation T(p)=sRp+t.

The vertex coordinates of the face mesh in the camera frame is afunction of both the metric coefficients and the pose of the face. Givenmetric coefficients (c₁, . . . , c_(m)) and pose T, the face geometry inthe camera frame is given by

$S = {T\left( {S^{0} + {\sum\limits_{i = 1}^{n}{c_{i}M^{i}}}} \right)}$

Since the face mesh is a triangular mesh, any point on a triangle is alinear combination of the three triangle vertexes in terms ofbarycentric coordinates. So any point on a triangle is also a functionof T and metric coefficients. Furthermore, when T is fixed, it is simplya linear function of the metric coefficients.

Let (p₁, p₂, . . . , p_(k)) be the reconstructed corner points, and (q₁,q₂, . . . , q₅) be the reconstructed markers. Denote the distance fromp_(i) to the face mesh S by d(p_(i), S). Assume marker q_(j) correspondsto vertex v_(m) _(j) of the face mesh, and denote the distance betweenq_(j) and v_(m) _(j) by d(q_(J), v_(m) _(j) ). The fitting processconsists of finding pose T and metric coefficients {c₁, . . . , c_(n)}by minimizing

${\sum\limits_{i = 1}^{n}{w_{i}{d^{2}\left( {p_{i},S} \right)}}} + {\sum\limits_{j = 1}^{5}{d^{2}\left( {q_{j},v_{m_{j}}} \right)}}$

where w_(i) is a weighting factor.

To solve this problem, we use an iterative closest point approach. Ateach iteration, we first fix T. For each p_(i), we find the closestpoint g_(i) on the current face mesh S. We then minimize Σw_(i)d²(p_(i),S)+Σd²(q_(j), v_(m) _(j) ). We set w_(i) to be 1 at the first iterationand 1.0/1+d²(p_(i), g_(i))) in the subsequent iterations. The reason forusing weights is that the reconstruction from images is noisy and such aweight scheme is an effective way to avoid overfitting to the noisy data[8]. Since both g_(i) and v_(m) _(j) are linear functions of the metriccoefficients for fixed T, the above problem is a linear least squareproblem. We then fix the metric coefficients, and solve for the pose. Todo that, we recompute g_(i) using the new metric coefficients. Given aset of 3D corresponding points (p_(i), g_(i)) and (q_(j), v_(m) _(j) )there are well known algorithms to solve for the pose. We use thequaternion-based technique described in [11]. To initialize thisiterative process, we first use the 5 markers to compute an initialestimate of the pose. In addition, to get a reasonable estimate of thehead size, we solve for the head-size related metric coefficients suchthat the resulting face mesh matches the bounding box of thereconstructed 3D points. Occasionally, the corner matching algorithm mayproduce points not on the face. In that case, the metric coefficientswill be out of the valid ranges, and we throw away the point that is themost distant from the center of the face. We repeat this process untilmetric coefficients become valid.

Fine Adjustment Using Image Information

After the geometric fitting process, we have now a face mesh that is aclose approximation to the real face. To further improve the result, weperform a search 130 for silhouettes and other face features in theimages and use them to refine the face geometry. The general problem oflocating silhouettes and face features in images is difficult, and isstill a very active research area in computer vision. However, the facemesh that we have obtained provides a good estimate of the locations ofthe face features, so we only need to perform search in a small region.

We use the snake approach [15] to computer the silhouettes of the face.The silhouette of the current face mesh is used as the initial estimate.For each point on this piecewise linear curve, we find the maximumgradient location along the normal direction within a small range (10pixels each side in our implementation). Then we solve for the vertexes(acting as control points) to minimize the total distance between allthe points and their corresponding maximum gradient locations.

We use a similar approach to find the upper lips.

To find the outer eye corner (not marked), we rotate the currentestimate of that eye corner (given by the face mesh) around the markedeye corner by a small angle, and look for the eye boundary using imagegradient information. This is repeated for several angles, and theboundary point that is the most distant to the marked corner is chosenas the outer eye corner.

We could also use the snake approach to search for eyebrows. However,our current implementation uses a slightly different approach. Insteadof maximizing image gradients across contours, we minimize the averageintensity of the image area that is covered by the eyebrow triangles.Again, the vertices of the eyebrows are only allowed to move in a smallregion bounded by their neighboring vertices. This has worked veryrobustly in our experiments.

We then use the face features and the image silhouettes as constraintsin our system to further improve the mesh, in a step 131. Notice thateach vertex on the mesh silhouette corresponds to a vertex on the imagesilhouette. We cast a ray from the camera center through the vertex onthe image silhouette. The projection of the corresponding mesh vertex onthis ray acts as the target position of the mesh vertex. Let v be themesh vertex and h the projection. We have equation v=h. For each facefeature, we obtain an equation in a similar way. These equations areadded to equation (5). The total set of equations is solved as before,i.e., we first fix the post T and use a linear least square approach tosolve the metric coefficients, and then fix the metric coefficientswhile solving for the pose.

Face Texture From Video Sequence

Now we have the geometry of the face from only two views that are closeto the frontal position. For the sides of the face, the texture from thetwo images is therefore quite poor or even not available at all. Sinceeach image only covers a portion of the face, we need to combine all theimages in the video sequence to obtain a complete texture map. This isdone by first determining the head pose for the images in the videosequence and then blending them to create a complete texture map.

Determining Head Motions in Video Sequences

FIG. 6 shows operations in creating a texture map. In an operation 140,successive images are first matched using the same corner detection,corner matching, and false match detection techniques described above.We could combine the resulting motions incrementally to determine thehead pose. However, this estimation is quite noisy because it iscomputed only from 2D points. As we already have the 3D face geometry, amore reliable pose estimation can be obtained by combining both 3D and2D information, as follows.

In an operation 141, the pose of each successive image is determined.Let us denote the first base image by I₀. This base image comprises oneof the two initial still images, for which the pose is already known.Because we know the pose of the base image, we can determine the 3Dposition of each point in the base image relative to the facial modelthat has already been computed.

We will denote the images on the video sequences by I₁, . . . , I_(v).The relative head motion from I_(i-1) to I_(i) is given by

${R = \begin{pmatrix}R_{ri} & t_{ri} \\0^{T} & 1\end{pmatrix}},$

and the head pose corresponding to image I_(i) with respect to thecamera frame is denoted by Ω_(i). The technique works incrementally,starting with I₀ and I₁. For each pair of images (I_(i-1), I_(i)), weperform a matching operation to match points of image I_(i) withcorresponding points in I_(i-1). This operation uses the corner matchingalgorithm described above. We then perform a minimization operation,which calculates the pose of I_(i) such that projections of 3D positionsof the matched points of I_(i-1) onto I_(i) coincide approximately withthe corresponding matched points of I_(i). More specifically, theminimization operation minimizes differences between the projections of3D positions of the matched points of I_(i-1) onto I_(i) and thecorresponding matched points of I_(i). Let us denote the matched cornerpairs as {(m_(j), m′_(j))|j=1, . . . , l}. For each m_(j) in I_(i-1), wecast a ray from the camera center through m_(j), and compute theintersection x_(j) of that ray with the face mesh corresponding to imageI_(i-1). According to the equation π{tilde over (m)}=APΩ{tilde over(p)}, R_(i) is subject to the following equations

APR_(i){tilde over (x)}_(j)=λ_(j){tilde over (m)}′_(j) for j=1, . . . ,l

where A, P, x_(j) and m′_(j) are known. Each of the above equationsgives two constraints on R_(i). We compute R_(i) with a techniquedescribed in [37], which minimizes the sum of differences between eachpair of matched points (m_(j), m′_(j)). After R_(i) is computed, thehead pose for image I_(i) in the camera frame is given byΩ_(i)=R_(i)Ω_(i-1). The head pose Ω₀ is known from previous calculationsinvolving the two still images.

In general, it is inefficient to use all the images in the videosequence for texture blending, because head motion between twoconsecutive frames is usually very small. To avoid unnecessarycomputation, the following process is used to automatically selectimages from the video sequence. Let us call the amount of rotation ofthe head between two consecutive frames the rotation speed. If s is thecurrent rotation speed and α is the desired angle between each pair ofselected images, the next image is selected α/s frames away. In ourimplementation, the initial guess of the rotation speed is set to 1degree/frame and the desired separation angle is equal to 5 degrees.

Texture Blending

Operation 142 is a texture blending operation. After the head pose of animage is computed, we use an approach similar to Pighin et al.'s method[26] to generate a view independent texture map. We also construct thetexture map on a virtual cylinder enclosing the face model. But insteadof casting a ray from each pixel to the face mesh and computing thetexture blending weights on a pixel by pixel basis, we use a moreefficient approach. For each vertex on the face mesh, we computed theblending weight for each image based on the angle between surface normaland the camera direction [26]. If the vertex is invisible, its weight isset to 0.0. The weights are then normalized so that the sum of theweights over all the images is equal to 1.0. We then set the colors ofthe vertexes to be their weights, and use the rendered image of thecylindrical mapped mesh as the weight map. For each image, we alsogenerate a cylindrical texture map by rendering the cylindrical mappedmesh with the current image as texture map. Let C_(i) and W_(i) (I=1, .. . , k) be the cylindrical texture maps and the weight maps. Let D bethe final blended texture map. For each pixel (u, v), its color on thefinal blended texture map is

${C\left( {u,v} \right)} = {\sum\limits_{i = 1}^{k}{{W_{i}\left( {u,v} \right)}{{C_{i}\left( {u,v} \right)}.}}}$

Because the rendering operations can be done using graphics hardware,this approach is very fast.

User Interface

We have built a user interface to guide the user through collecting therequired images and video sequences, and marking two images. The generichead model without texture is used as a guide. Recorded instructions arelip-synced with the head directing the user to first look at a dot onthe screen and push a key to take a picture. A second dot appears andthe user is asked to take the second still image. The synthetic facemimics the actions the user is to follow. After the two still images aretaken, the guide directs the user to slowly turn his/her head to recordthe video sequences. Finally, the guide places red dots on her own faceand directs the user to do the same on the two still images. Thecollected images and markings are then processed and a minute or twolater they have a synthetic head that resembles them.

Animation

Having obtained the 3D textured face model, the user can immediatelyanimate the model with the application of facial expressions includingfrowns, smiles, mouth open, etc.

To accomplish this we have defined a set of vectors, which we callposemes. Like the metric vectors described previously, posemes are acollection of artist-designed displacements. We can apply thesedisplacements to any face as long as it has the same topology as theneutral face. Posemes are collected in a library of actions andexpressions.

The idle motions of the head and eyeballs are generated using Perlin'snoise functions [24, 25].

CONCLUSIONS

We have developed a system to construct textured 3D face models fromvideo sequences with minimal user intervention. A new head motionestimation algorithm takes advantage of the physical properties of humanface features. The algorithm significantly improves the robustness overtraditional motion estimation methodologies. It can be applied to humanface modeling and tracking systems where the markers can be obtainedeither through user intervention or by using automatic feature detectionalgorithms. This algorithm can be easily extended to general cases wherethe number of feature points is not necessarily five.

Although details of specific implementations and embodiments aredescribed above, such details are intended to satisfy statutorydisclosure obligations rather than to limit the scope of the followingclaims. Thus, the invention as defined by the claims is not limited tothe specific features described above. Rather, the invention is claimedin any of its forms or modifications that fall within the proper scopeof the appended claims, appropriately interpreted in accordance with thedoctrine of equivalents.

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1. One or more computer-readable media containing a program that is executable by a computer to estimate motion between two images, the program configured to perform the following actions: determining locations of a plurality of distinct facial features in the two images; converting the determined locations into a set of physical face parameters based on a symmetry of the distinct facial features; calculating an estimation objective function comprising a set of terms to estimate: (a) each of the parameters, (b) a first transform corresponding to a first image of the two images, and (c) a second transform corresponding to a second image of the two images; and estimating motion between the two images based on the set of physical face parameters by multiplying each term of the estimation objective function by a weighted contribution factor based on the confidence of data corresponding to the estimation objective function.
 2. One or more computer-readable media as recite in claim 1, further comprising adding an inequality constraint on a particular parameter of the parameters, such that the particular parameter is constrained within predetermined minimum and maximum values.
 3. One or more computer-readable media as recited in claim 2, wherein the predetermined minimum value and the predetermined maximum value are based on absolute values of other of the locations.
 4. One or more computer-readable media as recited in claim 2, further comprising converting the inequality constraint to an equality constraint using a penalty function.
 5. One or more computer-readable media as recited in claim 4, wherein the estimating further comprises adding the equality constraint to the initial estimate.
 6. One or more computer-readable media as recited in claim 4, wherein the calculating further comprises multiplying each term of the estimation objective function and the equality constraint by a weighted contribution factor based on a confidence of data corresponding to the estimation objective function.
 7. One or more computer-readable media as recited in claim 1, wherein the determining comprises accepting input from a human user.
 8. One or more computer-readable media as recited in claim 1, wherein the determined locations correspond to the eye corners, mouth corners and nose tip.
 9. One or more computer-readable media containing a program that is executable by a computer to estimate motion between two images, the program comprising the following actions: determining locations of a plurality of distinct facial features in the two images; converting the determined locations into a set of physical face parameters based on a symmetry of the distinct facial features; and estimating motion between the two images based on the set of physical face parameters, the estimating further comprising: calculating an estimation objective function to determine an initial estimate of image rotation, the estimation objective function comprising a set of terms to estimate: (a) each of the parameters, (b) a first pose transform corresponding to a first image of the two images, and (c) a second pose transform corresponding to a second image of the two images; placing an inequality constraint on a particular parameter of the parameters, such that the particular parameter is constrained within a predetermined minimum and maximum value; converting the inequality constraint to an equality constraint using a penalty function; and adding the equality constraint to the initial estimate.
 10. One or more computer-readable media as recited in claim 9, wherein the estimating further comprises multiplying each term of the estimation objective function by a weighted contribution factor based on a confidence of data corresponding to the estimation objective function.
 11. One or more computer-readable media as recited in claim 9, wherein the predetermined minimum value and the predetermined maximum value are based on absolute values of other of the locations.
 12. One or more computer-readable media as recited in claim 9, wherein the determining comprises accepting input from a human user.
 13. One or more computer-readable media as recited in claim 9, wherein the determined locations correspond to the eye corners, mouth corners and nose tip.
 14. One or more computer-readable media containing a program that is executable by a computer to estimate motion between two images, the program configured to perform the following actions: determining locations of a plurality of distinct facial features in the two images; converting the determined locations into a set of physical face parameters based on the symmetry of the distinct facial features; adding an inequality constraint on a particular parameter of the parameters, such that the particular parameter is constrained within predetermined minimum and maximum values, the predetermined minimum value and the predetermined maximum value are based on absolute values of other of the locations; and estimating motion between the two images based on the set of physical face parameters.
 15. One or more computer-readable media as recited in claim 14, wherein the estimating motion further comprises calculating an estimation objective function comprising a set of terms to estimate: (a) each of the parameters, (b) a first transform corresponding to a first image of the two images, and (c) a second transform corresponding to a second image of the two images.
 16. One or more computer-readable media as recited in claim 14, wherein the estimating further comprises multiplying each term of the estimation objective function by a weighted contribution factor based on a confidence of data corresponding to the estimation objective function.
 17. One or more computer-readable media as recited in claim 14, further comprising converting the inequality constraint to an equality constraint using a penalty function.
 18. One or more computer-readable media as recited in claim 14, wherein the estimating further comprises: calculating an estimation objective function to determine an initial estimate of image rotation, the estimation objective function comprising a set of terms to estimate: (a) each of the parameters, (b) a first pose transform corresponding to a first image of the two images, and (c) a second pose transform corresponding to a second image of the two images; placing an inequality constraint on a particular parameter of the parameters, such that the particular parameter is constrained within predetermined minimum and maximum values converting the inequality constraint to an equality constraint using a penalty function; and adding the equality constraint to the initial estimate.
 19. One or more computer-readable media as recited in claim 14, wherein the determining comprises accepting input from a human user.
 20. One or more computer-readable media as recited in claim 14, wherein the determined locations correspond to the eye corners, mouth corners and nose tip. 